version: 66.04
glider: 512
mission: 4
dive: 15
start: 9 20 113 0 49 41
data:
$ID,512
$MISSION,4
$DIVE,15
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$D_ABORT,990
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106675.41
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2550
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,003854,2246.364,-15752.421,40,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-83.8
$GPS2,004848,2246.295,-15752.479,14,1.1,19,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.102
$KALMAN_X,-9598.5,628.0,107.1,21791.4,-2908.4
$KALMAN_Y,-7244.3,685.3,-32.7,10689.9,-2251.2
$MHEAD_RNG_PITCHd_Wd,103.1,28854,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-0.64,-146.0,0.0,0.0,0,107,0.00,0.00,-82.53,0.000,2,0.000,0.000,11,2560,2916
$GC,112,-0.64,-146.0,2.1,-1.9,10,132,9.38,1.48,-5.35,0.000,4,0.210,0.041,2509,1518,3148
$GC,186,-0.64,-146.0,20.9,-23.9,20,195,0.00,1.67,0.00,0.000,6,0.000,0.038,2503,2607,3149
$GC,459,-0.64,-146.0,86.3,-19.6,47,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2609,3150
$GC,725,-0.64,-146.0,130.8,-16.1,72,728,0.00,1.52,0.00,0.000,4,0.000,0.022,2509,1539,3151
$GC,889,-0.64,-146.0,155.0,-13.3,86,892,0.00,1.62,0.00,0.000,6,0.000,0.036,2503,2616,3151
$GC,1160,-0.64,-146.0,193.3,-14.7,111,1164,0.00,1.52,0.00,0.000,4,0.000,0.021,2509,1539,3151
$GC,1210,-0.64,-146.0,200.0,-13.3,115,1214,0.00,1.55,0.00,0.000,6,0.000,0.035,2503,2571,3151
$GC,1504,-0.64,-146.0,240.2,-13.8,122,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2572,3151
$GC,1748,-0.64,-146.0,273.0,-13.5,128,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2572,3151
$GC,1991,-0.64,-146.0,301.7,-11.5,134,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2572,3151
$GC,2235,-0.64,-146.0,327.5,-10.5,140,2238,0.00,1.60,0.00,0.000,4,0.000,0.044,2494,3661,3149
$GC,2265,-0.64,-146.0,331.2,-11.2,140,2268,0.00,1.58,0.00,0.000,6,0.000,0.022,2501,2556,3148
$GC,2530,-0.64,-146.0,359.7,-10.9,147,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2548,3147
$GC,2774,-0.64,-146.0,385.5,-10.6,153,2777,0.00,1.40,0.00,0.000,4,0.000,0.025,2509,1545,3145
$GC,2804,-0.64,-146.0,389.0,-10.6,153,2807,0.00,1.55,0.00,0.000,6,0.000,0.040,2503,2569,3145
$GC,3070,-0.64,-146.0,416.4,-10.8,160,3074,0.00,1.45,0.00,0.000,4,0.000,0.026,2509,1551,3142
$GC,3094,-0.64,-146.0,419.6,-11.2,160,3098,0.00,1.52,0.00,0.000,6,0.000,0.040,2503,2561,3142
$GC,3365,-0.64,-146.0,448.6,-10.9,167,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2563,3140
$GC,3609,-0.64,-146.0,475.6,-11.1,173,3613,0.00,1.45,0.00,0.000,4,0.000,0.026,2508,1547,3139
$GC,3659,-0.64,-146.0,480.9,-9.7,174,3663,0.00,1.52,0.00,0.000,6,0.000,0.041,2503,2553,3138
$GC,3955,-0.64,-146.0,510.1,-9.7,181,3958,0.00,1.65,0.00,0.000,4,0.000,0.048,2494,3663,3137
$GC,4004,-0.64,-146.0,515.5,-10.2,182,4008,0.00,1.58,0.00,0.000,6,0.000,0.026,2500,2573,3136
$GC,4299,-0.64,-146.0,542.6,-9.0,189,4302,0.00,1.45,0.00,0.000,4,0.000,0.028,2508,1541,3133
$GC,4340,-0.64,-146.0,546.7,-9.0,189,4349,0.00,1.58,0.00,0.000,6,0.000,0.043,2503,2574,3133
$GC,4597,-0.64,-146.0,568.9,-8.9,196,4601,0.00,1.48,0.00,0.000,4,0.000,0.028,2508,1545,3132
$GC,4683,-0.64,-146.0,576.8,-8.7,197,4691,0.00,1.55,0.00,0.000,6,0.000,0.044,2502,2561,3131
$GC,4938,-0.64,-146.0,597.9,-8.5,204,4941,0.00,1.48,0.00,0.000,4,0.000,0.029,2508,1536,3130
$STATE,4957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4957,begin apogee
$GC,4969,-0.23,0.0,600.3,8.6,204,5093,0.40,0.00,120.68,1.021,6,0.127,0.000,2638,2316,2550
$STATE,5093,end apogee,CONTROL_FINISHED_OK
$STATE,5093,begin climb
$GC,5098,0.64,146.0,602.1,0.0,207,5239,0.82,1.65,129.65,0.961,4,0.084,0.029,2927,1264,1955
$GC,5273,0.64,146.0,572.9,23.7,211,5276,0.00,1.62,0.00,0.000,6,0.000,0.040,2927,2297,1951
$GC,5566,0.64,146.0,487.8,28.6,218,5570,0.00,1.58,0.00,0.000,4,0.000,0.031,2934,1255,1947
$GC,5618,0.64,146.0,472.8,26.4,219,5622,0.00,1.60,0.00,0.000,6,0.000,0.043,2933,2297,1946
$GC,5907,0.64,146.0,398.2,25.9,226,5911,0.00,1.55,0.00,0.000,4,0.000,0.031,2939,1264,1944
$GC,5943,0.64,146.0,388.1,25.5,226,5947,0.00,1.60,0.00,0.000,6,0.000,0.043,2939,2294,1944
$GC,6203,0.64,146.0,322.7,25.6,233,6206,0.00,1.65,0.00,0.000,4,0.000,0.047,2939,3365,1943
$GC,6255,0.64,146.0,307.1,28.3,234,6258,0.00,1.58,0.00,0.000,6,0.000,0.029,2947,2315,1942
$GC,6544,0.64,146.0,235.1,25.1,241,6547,0.00,1.55,0.00,0.000,4,0.000,0.031,2956,1244,1942
$GC,6585,0.64,146.0,225.5,20.5,241,6593,0.00,1.62,0.00,0.000,6,0.000,0.041,2955,2301,1942
$GC,6845,0.64,146.0,163.3,25.2,257,6849,0.00,1.62,0.00,0.000,4,0.000,0.048,2955,3383,1941
$GC,6886,0.64,146.0,152.7,24.0,260,6894,0.10,1.60,0.00,0.000,6,0.178,0.028,2935,2308,1941
$GC,7156,0.64,146.0,96.0,20.5,285,7160,0.00,1.52,0.00,0.000,4,0.000,0.030,2941,1237,1941
$GC,7277,0.64,146.0,71.5,18.9,295,7281,0.00,1.58,0.00,0.000,6,0.000,0.041,2941,2268,1941
$GC,7549,0.64,146.0,28.6,14.3,320,7559,0.00,1.50,0.00,0.000,4,0.000,0.027,2948,1236,1941
$GC,7663,0.64,146.0,12.9,14.4,337,7672,0.00,1.52,0.00,0.000,6,0.000,0.039,2948,2243,1941
$STATE,7721,end climb,SURFACE_DEPTH_REACHED
$STATE,7722,begin surface coast
$FINISH,0.1,1.013506
$STATE,7742,end surface coast,CONTROL_FINISHED_OK
$STATE,7742,begin surface
$SM_CCo,7767,91.85,0.561,0,0,999,380.21
$SM_GC,1.03,0.00,0.00,91.85,0.000,0.000,0.561,33,2624,999,-8.36,0.71,380.21
$IRIDIUM_FIX,2239.35,-15751.94,141202,222212
$TT8_MAMPS,0.023777
$HUMID,2331
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.50
$XPDR_PINGS,8
$24V_AH,24.4,2.004
$10V_AH,10.8,1.838
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.000,59.250,250.325,91.850,0.000,23.469,39.631,380.963,2.000,0.000,0.000,19.341,729.642,4796.871,400.580,1742.817,790.186,33.335,952.129,0.000,1749.666,0.000,0.544,0.000
$DEVICE_MAMPS,210.158,50.622,1020.877,560.677,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,236.447,1149.847,1185.964,142.273,843.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31936,349
$CAP_FILE_SIZE,69181,0
$CFSIZE,260165632,257167360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200913,030205,2245.753,-15751.524,20,1.0,37,10.1